Sending any CAN message
Sending any CAN message
The ADSWRITE command can be used to send any CAN message.
Input parameters |
Description |
---|---|
NETID |
NetId of the CAN interface |
Port number |
200 |
IDXGRP |
16#0000F921 |
IDXOFFS |
0 |
LEN |
11 bytes |
SRCADDR |
Pointer to an 11 byte ARRAY |
Byte |
Description |
Example Node 7 SDO 0x607 |
---|---|---|
1 |
COB-ID LowByte |
0x06 (SDO Low Byte) |
2 |
COB-ID HighByte |
0x07 (SDO High Byte) |
3 |
LEN (length) |
0x08 (LEN, may be 5 in this case) |
4 |
Data[1] |
0x22 (Download Request) |
5 |
Data[2] |
0x00 (Index Low Byte) |
6 |
Data[3] |
0x21 (Index High Byte) |
7 |
Data[4] |
0x01 (Sub Index) |
8 |
Data[5] |
0x01 (Value "1") |
9 |
Data[6] |
0x00 |
10 |
Data[7] |
0x00 |
11 |
Data[8] |
0x00 |